version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 555
start: 9 27 121 0 6 50
data:
$ID,626
$MISSION,3
$DIVE,555
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,250
$D_NO_BLEED,150
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,66
$T_MISSION,180
$T_ABORT,550
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54816
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019952599
$HD_B,0.011885
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15809
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,199
$PITCH_MAX,3921
$C_PITCH,2750
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,37.799999
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,183
$ROLL_MAX,3761
$ROLL_DEG,40
$C_ROLL_DIVE,2265
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,74
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00061500003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.91942
$PRESSURE_SLOPE,0.00014088588
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,67
$DEVICE5,54
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044219922
$SEABIRD_T_H,0.00064468966
$SEABIRD_T_I,2.6862755e-05
$SEABIRD_T_J,3.3151866e-06
$SEABIRD_C_G,-10.061407
$SEABIRD_C_H,1.1334444
$SEABIRD_C_I,-0.0030129163
$SEABIRD_C_J,0.00029655115
$GPS1,270921,000049,2244.8408,-15759.8271,7,1.1,21,9.8,0.0,282.8,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-75.2
$GPS2,270921,000558,2244.8147,-15759.8672,6,1.1,20,9.8,0.8,204.0,8,9.6
$SPEED_LIMITS,0.217,0.227
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1300.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,340.5,411,-19.1,-10.101,-25.00,1808
$D_GRID,200
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.58,-116.8,123,2209,1197,1120,0.0,0.0,0,82,0.00,0.00,-63.47,0.000,16386,0.000,0.000,123,2207,3232,3195,3269,0,0,0,0,0,0,15.19,28.83,15.19
$GC,85,-0.58,-116.8,123,2207,3195,3268,4.1,-8.2,9,101,8.35,2.38,-0.68,0.000,18692,0.434,0.061,2542,3649,3279,3249,3310,0,0,0,0,0,0,14.28,13.47,14.57
$GC,225,-0.58,-116.8,2542,3649,3256,3304,44.0,-17.2,34,233,0.03,2.35,0.00,0.000,3078,0.253,0.047,2566,2261,3280,3260,3301,0,0,0,0,0,0,14.57,14.82,14.85
$GC,488,-0.58,-116.8,2565,2258,3264,3296,96.1,-16.4,83,497,0.00,2.33,0.00,0.000,516,0.000,0.056,2566,856,3280,3266,3295,0,0,0,0,0,0,15.22,14.88,15.23
$GC,600,-0.58,-116.8,2566,856,3267,3296,112.4,-12.9,103,608,0.00,2.28,0.00,0.000,3078,0.000,0.053,2557,2222,3281,3267,3295,0,0,0,0,0,0,15.04,14.91,15.05
$GC,858,-0.58,-116.8,2557,2223,3267,3295,155.5,-17.3,149,867,0.00,2.42,0.00,0.000,2308,0.000,0.063,2546,3687,3281,3267,3295,0,0,0,0,0,0,15.26,14.84,15.27
$GC,904,-0.58,-116.8,2546,3687,3267,3295,161.9,-14.8,153,911,0.00,2.38,0.00,0.000,3078,0.000,0.041,2546,2265,3281,3267,3295,0,0,0,0,0,0,14.91,14.87,14.94
$GC,1154,-0.58,-116.8,2546,2262,3267,3295,196.6,-13.8,178,1159,0.05,2.33,0.00,0.000,2564,0.412,0.054,2564,852,3281,3267,3295,0,0,0,0,0,0,14.76,14.93,14.95
$STATE,1175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1175,begin apogee
$GC,1182,-0.13,0.0,2555,2129,3267,3295,200.2,-13.9,180,1279,0.40,0.00,92.72,1.079,10246,0.249,0.000,2704,2130,2799,2863,2735,0,0,0,0,0,0,14.38,14.67,14.08
$STATE,1280,end apogee,CONTROL_FINISHED_OK
$STATE,1280,begin climb
$GC,1282,0.58,116.8,2704,2130,2863,2734,204.9,0.0,190,1387,0.52,2.38,95.25,1.072,10500,0.148,0.063,2926,3537,2322,2404,2241,0,0,0,0,0,0,14.59,14.57,14.00
$GC,1413,0.64,212.9,2926,3537,2404,2242,204.4,4.6,203,1496,0.00,2.35,76.97,1.068,11270,0.000,0.041,2936,2115,1929,2004,1854,0,0,0,0,0,0,14.78,14.69,13.95
$GC,1744,0.64,212.9,2937,2115,2004,1848,162.3,12.8,236,1753,0.00,2.33,0.00,0.000,2564,0.000,0.057,2949,719,1925,2002,1848,0,0,0,0,0,0,15.18,14.87,15.18
$GC,1848,0.64,212.9,2949,719,1995,1849,150.0,11.1,246,1858,0.00,2.35,0.00,0.000,3078,0.000,0.053,2949,2124,1921,1994,1849,0,0,0,0,0,0,14.95,14.90,14.94
$GC,2120,0.64,212.9,2948,2125,1995,1848,116.1,13.7,295,2126,0.00,2.35,0.00,0.000,2308,0.000,0.063,2949,3534,1921,1995,1848,0,0,0,0,0,0,15.23,14.89,15.23
$GC,2215,0.64,212.9,2948,3533,1995,1849,102.3,13.0,312,2224,0.00,2.38,0.00,0.000,5126,0.000,0.045,2959,2132,1922,1995,1849,0,0,0,0,0,0,15.04,14.88,15.06
$GC,2484,0.67,269.1,2959,2130,1994,1849,73.3,6.9,361,2533,0.00,2.42,43.70,0.959,10756,0.000,0.059,2970,713,1701,1788,1615,0,0,0,0,0,0,15.24,14.80,14.26
$GC,2600,0.68,275.5,2970,712,1781,1616,63.7,9.7,380,2617,0.00,2.45,6.38,0.815,13318,0.000,0.053,2970,2130,1674,1762,1587,0,0,0,0,0,0,14.85,14.78,14.16
$GC,2873,0.68,275.5,2970,2130,1762,1584,30.8,13.4,430,2881,0.00,2.40,0.00,0.000,4356,0.000,0.065,2970,3538,1673,1762,1584,0,0,0,0,0,0,15.18,14.82,15.18
$GC,2899,0.68,275.5,2970,3538,1762,1584,27.2,13.5,434,2907,0.00,2.40,0.00,0.000,5126,0.000,0.047,2982,2110,1672,1761,1584,0,0,0,0,0,0,14.99,14.86,15.01
$STATE,3080,end climb,SURFACE_DEPTH_REACHED
$STATE,3080,begin surface coast
$FINISH,0.2,1.023122
$STATE,3104,end surface coast,CONTROL_FINISHED_OK
$STATE,3104,begin surface
$SM_CCo,3120,51.65,0.181,0,0,1166,400.08
$SM_GC,1.53,6.53,0.28,51.65,0.067,0.076,0.181,173,2279,1166,-7.91,-0.96,400.08,0,0,0,0,0,0,14.93,14.95,14.68
$IRIDIUM_FIX,2237.01,-15802.37,270921,000213
$TT8_MAMPS,0.02247,0.340795
$HUMID,51.14
$INTERNAL_PRESSURE,9.31638
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,13.47,135.335
$10V_AH,12.70,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,15.875,42.750,315.025,51.650,0.000,26.124,43.546,116.521,0.500,0.000,22.005,1171.594,513.997,392.989,1283.225,154.162,0.000,867.416,0.000,1111.299,0.000,0.555,0.000
$DEVICE_MAMPS,433.755,130.815,1078.650,181.305,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,313.722,399.631,732.946,629.514,734.428,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339120
$DATA_FILE_SIZE,40521,472
$CAP_FILE_SIZE,107727,0
$CFSIZE,1023623168,967098368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.137,221.61,1
$GPS,270921,010042,2244.861,-15800.151,7,0.9,23,9.8,0.0,274.4,9,9.3